/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Motor.h"
#include "dj.h"
#include "delay_us.h"
#include "CSB.h"
#include "CSB2.h"
#include "CSB3.h"
#include "control.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE BEGIN 0 */
typedef enum {
    AUTO_MODE,
    MANUAL_MODE,
	  XUNXIAN_MODE,
} ControlMode_t;

volatile ControlMode_t Control_Mode = AUTO_MODE;

/* USER CODE END 0 */
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint8_t ReceiveData[20];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
    if(huart==&huart2) {

        HAL_UART_Transmit_DMA(&huart2,(uint8_t*)ReceiveData,Size);

        if(ReceiveData[0]==0x00) {

//            Control_Mode =MANUAL_MODE;
//            UpdateMotorExpValues(0, 0);
            UpdateMotorExpValues(-10, 10);
            HAL_DJ_PWM(3800) // 正向
//            printf("Bluetooth\n");
            printf("break\n");
        } else if(ReceiveData[0]==0x01) {
            UpdateMotorExpValues(10, -10);
            HAL_DJ_PWM(3800) // 正向
            printf("Forward\n");
        } else if(ReceiveData[0]==0x02) {
            UpdateMotorExpValues(0, -10);
            HAL_DJ_PWM(3000) // 左转
            printf(" Turn Left\n");

        } else if(ReceiveData[0]==0x03) {
            UpdateMotorExpValues(10, 0);
            HAL_DJ_PWM(4600) // 右转
            printf("Turn Right\n");
        } else if(ReceiveData[0]==0x04) {
            UpdateMotorExpValues(0, 0);
            HAL_DJ_PWM(3800) // 正向
            printf("Stop \n");

        }else if(ReceiveData[0]==0x05)
				{
				Control_Mode =XUNXIAN_MODE;
				 printf("循迹模式 \n");
				}else if(ReceiveData[0]==0x06)
				{
				Control_Mode =AUTO_MODE;
				 printf("自动避障模式 \n");
				}else if(ReceiveData[0]==0x07)
				{
				Control_Mode =MANUAL_MODE;
				 printf("蓝牙模式 \n");
				}
    }
    HAL_UARTEx_ReceiveToIdle_DMA(&huart2,(uint8_t*)ReceiveData,sizeof(ReceiveData));
    __HAL_DMA_DISABLE_IT(&hdma_usart2_rx,DMA_IT_HT);
}
// 定义舵机控制函数
#define A_M_DJ    HAL_DJ_PWM(3800) // 直行
#define A_L_DJ    HAL_DJ_PWM(3500) // 左转
#define A_R_DJ    HAL_DJ_PWM(4100) // 右转
#define A_L_DJ_BIG HAL_DJ_PWM(3200) // 大角度左转
#define A_R_DJ_BIG HAL_DJ_PWM(4400) // 大角度右转
// 读取三个引脚电平状态的函数
void Read_Tracking_Module_Pins(void) {
    GPIO_PinState R_Pin_State = HAL_GPIO_ReadPin(GPIOD, R_Receive_data_Pin);
    GPIO_PinState C_Pin_State = HAL_GPIO_ReadPin(GPIOD, C_Receive_data_Pin);
    GPIO_PinState L_Pin_State = HAL_GPIO_ReadPin(GPIOD, L_Receive_data_Pin);

    UpdateMotorExpValues(2, -2);

    if (R_Pin_State == GPIO_PIN_SET) {
        // 右侧循迹模块检测到信号，先尝试右转
        A_R_DJ;
        HAL_Delay(20); // 延时200ms，可根据实际情况调整
        R_Pin_State = HAL_GPIO_ReadPin(GPIOD, R_Receive_data_Pin);
        if (R_Pin_State == GPIO_PIN_SET) {
            // 延时后仍然检测到信号，大角度右转
            A_R_DJ_BIG;
					UpdateMotorExpValues(2, -2	);
        }
    } 

    if (C_Pin_State == GPIO_PIN_SET) {
        // 中间循迹模块检测到信号，直行
        A_M_DJ;
    } 

    if (L_Pin_State == GPIO_PIN_SET) {
        // 左侧循迹模块检测到信号，先尝试左转
        A_L_DJ;
        HAL_Delay(20); // 延时200ms，可根据实际情况调整
        L_Pin_State = HAL_GPIO_ReadPin(GPIOD, L_Receive_data_Pin);
        if (L_Pin_State == GPIO_PIN_SET) {
            // 延时后仍然检测到信号，大角度左转
            A_L_DJ_BIG;
					UpdateMotorExpValues(2, -2);
        }
    } 
		if (L_Pin_State == GPIO_PIN_SET && R_Pin_State == GPIO_PIN_SET) {
			
        HAL_DJ_PWM(4800) // 大角度右转
			  HAL_Delay(200);
			if(L_Pin_State == GPIO_PIN_SET && R_Pin_State == GPIO_PIN_SET)
			{
			 HAL_DJ_PWM(2800) // 大角度左转
			}
        }
    
}

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */


/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM14_Init();
  MX_USART1_UART_Init();
  MX_TIM4_Init();
  MX_TIM3_Init();
  MX_TIM10_Init();
  MX_TIM9_Init();
  MX_TIM12_Init();
  MX_USART2_UART_Init();
  MX_TIM13_Init();
  /* USER CODE BEGIN 2 */
    HAL_DJ_Init();
    HAL_Motor_Init();
    HAL_UARTEx_ReceiveToIdle_DMA(&huart2,(uint8_t*)ReceiveData,sizeof(ReceiveData));
    __HAL_DMA_DISABLE_IT(&hdma_usart2_rx,DMA_IT_HT);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
    while (1)
    {
//		Read_Tracking_Module_Pins();
//		HAL_Delay(10);

        if (Control_Mode == AUTO_MODE) {
            HAL_Control_Car(); //自动控制
        } else if(Control_Mode==MANUAL_MODE) {

            continue;
        }else if(Control_Mode==XUNXIAN_MODE)
			{
			Read_Tracking_Module_Pins();
			}

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
